The disk A rotates about the vertical z-axis with a constant speed = = /3 rad/s. Simultaneously, the hinged arm OB is elevated

The disk A rotates about the vertical z-axis with a constant speed ω = θ˙ = π/3 rad/s. Simultaneously, the hinged arm OB is elevated at the constant rate Φ˙ = 2π/3 rad /s. At time t = 0, both θ = 0 and Φ = 0. The angle θ is measured from the fixed reference x-axis. The small sphere P slides out along the rod according to R = 50 + 200t², where R is in millimeters and t is in seconds. Determine the magnitude of the total acceleration a of P when t = 1/2 s.

B, y | R P Problem 2/182